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t/calib: Also expose disparity_to_depth on both raw and refined settings

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This commit is contained in:
Jakob Bornecrantz 2019-11-16 23:27:32 +00:00
parent 6d8abd87a8
commit 8917607a49
3 changed files with 28 additions and 3 deletions
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22
src/xrt/auxiliary/tracking/t_calibration_opencv.h
View file

@ -32,7 +32,7 @@ t_file_save_raw_data_hack(struct t_settings_stereo_raw *raw_data);
struct CalibrationData : t_settings_stereo
{
public:
cv::Mat disparity_to_depth = {};
cv::Mat disparity_to_depth_mat = {};
cv::Mat l_undistort_map_x = {};
cv::Mat l_undistort_map_y = {};
@ -43,6 +43,21 @@ public:
cv::Mat r_undistort_map_y = {};
cv::Mat r_rectify_map_x = {};
cv::Mat r_rectify_map_y = {};
public:
CalibrationData()
{
// clang-format off
disparity_to_depth_mat = cv::Mat(4, 4, CV_64F, &disparity_to_depth[0][0]);
// clang-format on
}
bool
isDataStorageValid()
{
return disparity_to_depth_mat.size() == cv::Size(4, 4);
}
};
/*!
@ -80,6 +95,8 @@ public:
camera_essential_mat = cv::Mat(3, 3, CV_64F, &camera_essential[0][0]);
camera_fundamental_mat = cv::Mat(3, 3, CV_64F, &camera_fundamental[0][0]);
disparity_to_depth_mat = cv::Mat(4, 4, CV_64F, &disparity_to_depth[0][0]);
l_intrinsics_mat = cv::Mat(3, 3, CV_64F, &l_intrinsics[0][0]);
l_distortion_mat = cv::Mat(1, 5, CV_64F, &l_distortion[0]);
l_distortion_fisheye_mat = cv::Mat(1, 4, CV_64F, &l_distortion_fisheye[0]);
@ -101,6 +118,7 @@ public:
camera_translation_mat.size() == cv::Size(1, 3) &&
camera_essential_mat.size() == cv::Size(3, 3) &&
camera_fundamental_mat.size() == cv::Size(3, 3) &&
disparity_to_depth_mat.size() == cv::Size(4, 4) &&
l_intrinsics_mat.size() == cv::Size(3, 3) &&
l_distortion_mat.size() == cv::Size(5, 1) &&
l_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
@ -136,5 +154,5 @@ calibration_get_stereo(t_settings_stereo *data_c,
*r_undistort_map_y = data->r_undistort_map_y;
*r_rectify_map_x = data->r_rectify_map_x;
*r_rectify_map_y = data->r_rectify_map_y;
*disparity_to_depth = data->disparity_to_depth;
*disparity_to_depth = data->disparity_to_depth_mat;
}

3
src/xrt/auxiliary/tracking/t_file.cpp
View file

@ -140,11 +140,12 @@ t_settings_stereo_load_v1(FILE *calib_file,
}
assert(raw.isDataStorageValid());
assert(data.isDataStorageValid());
// No processing needed.
data.image_size_pixels = raw.image_size_pixels;
data.new_image_size_pixels = raw.new_image_size_pixels;
data.disparity_to_depth = raw.disparity_to_depth_mat.clone();
raw.disparity_to_depth_mat.copyTo(data.disparity_to_depth_mat);
//! @todo Scale Our intrinsics if the frame size we request
// calibration for does not match what was saved

6
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -84,6 +84,9 @@ struct t_settings_stereo
{
struct xrt_size image_size_pixels;
struct xrt_size new_image_size_pixels;
//! Disparity and position to camera world coordinates.
double disparity_to_depth[4][4];
};
/*!
@ -103,6 +106,9 @@ struct t_settings_stereo_raw
//! Fundamental matrix.
double camera_fundamental[3][3];
//! Disparity and position to camera world coordinates.
double disparity_to_depth[4][4];
//! Left camera intrinsics
double l_intrinsics[3][3];
//! Left camera distortion